An algorithm for large-scale multitarget tracking and parameter estimation

Campbell, Mark A., Clark, Daniel E. and Melo, Flávio D.E. (2021) An algorithm for large-scale multitarget tracking and parameter estimation. IEEE Transactions on Aerospace and Electronic Systems, 57 (4), 2053-2066. (doi:10.1109/TAES.2021.3098155).

Record type: Article

Abstract

Modern tracking problems require fast, scalable, and robust solutions for tracking multiple targets from noisy sensor data. In this article, an algorithm that has linear computational complexity with respect to the number of targets and measurements is presented. The method is based on the propagation of the first two factorial cumulants of a point process. The algorithm is demonstrated for tracking a million targets in cluttered environments in the fastest time yet for any such solution. A low-computational-complexity solution to the problem of joint multitarget tracking and parameter estimation is also presented. The multitarget filtering approach utilizes a single-cluster point process method for joint multiobject estimation and parameter estimation and is shown to be more computationally efficient and robust than previous implementations.

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Published date: 1 August 2021

Additional Information: Funding Information: This work was supported in part by the Joint AFRL-Dstl Basic-Research Grant in Autonomous Signal Processing under AFOSR Grant FA9550-19-1-7008 and Dstl Task 1000133068 and in part by the Engineering and Physical Sciences Research Council (EPSRC) under Grant EPL0168341. This work was undertaken in the EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems at Heriot-Watt University and the University of Edinburgh. Funding Information: This work was supported in part by the Joint AFRL–Dstl Basic-Research Grant in Autonomous Signal Processing under AFOSR Grant FA9550-19-1-7008 and Dstl Task 1000133068 and in part by the Engineering and Physical Sciences Research Council (EPSRC) under Grant EPL0168341. This work was undertaken in the EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems at Heriot-Watt University and the University of Edinburgh. Publisher Copyright: © 2021 IEEE.

Keywords: Cluster processes, Large-scale tracking, Multitarget tracking, Point processes

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